Research Article

Implementing Kinect Sensor for Building 3D Maps of Indoor Environments

by  Wael R. Abdulmajeed, Revan Zuhair Mansoor
journal cover
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 86 - Issue 8
Published: January 2014
Authors: Wael R. Abdulmajeed, Revan Zuhair Mansoor
10.5120/15005-3182
PDF

Wael R. Abdulmajeed, Revan Zuhair Mansoor . Implementing Kinect Sensor for Building 3D Maps of Indoor Environments. International Journal of Computer Applications. 86, 8 (January 2014), 18-22. DOI=10.5120/15005-3182 

                        @article{ 10.5120/15005-3182,
                        author  = { Wael R. Abdulmajeed,Revan Zuhair Mansoor },
                        title   = { Implementing Kinect Sensor for Building 3D Maps of Indoor Environments },
                        journal = { International Journal of Computer Applications },
                        year    = { 2014 },
                        volume  = { 86 },
                        number  = { 8 },
                        pages   = { 18-22 },
                        doi     = { 10.5120/15005-3182 },
                        publisher = { Foundation of Computer Science (FCS), NY, USA }
                        }
                        %0 Journal Article
                        %D 2014
                        %A Wael R. Abdulmajeed
                        %A Revan Zuhair Mansoor
                        %T Implementing Kinect Sensor for Building 3D Maps of Indoor Environments%T 
                        %J International Journal of Computer Applications
                        %V 86
                        %N 8
                        %P 18-22
                        %R 10.5120/15005-3182
                        %I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper describes modern technique of mapping. This work involved two cases study; in both cases mobile robot navigated manually and used Kinect sensor for built map of indoor environment. pioneer 3-dx is the robot used in this projects that is programmed by using the Advanced Robotics Interface for Applications (ARIA) that program with C++ package ( Visual C++. Net ), and ARNetworking software is used for setup Wireless TCP/IP Ethernet-to-Serial connection between robot and PC. The programs that are used for kinect sensor are OpenNI/NITE to make it work with PC and also we used Skanect software for building 3d map for environment.

References
  • Shahram Izadi, David Kim, Otmar Hilliges, David Molyneaux, Richard Newcombe, Pushmeet Kohli, Jamie Shotton, Steve Hodges, Dustin Freeman, Andrew Davison , Andrew Fitzgibbon , ''KinectFusion: Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera'', ACM Symposium on User Interface Software and Technology, October 16-19/ 2011.
  • Peter Henry, Michael Krainin, Evan Herbst, Xiaofeng Ren, Dieter Fox, '' RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments'', The International Journal of Robotics Research, 5-April-2012.
  • K. Khoshelham, '' ACCURACY ANALYSIS OF KINECT DEPTH DATA '' International Society for Photogrammetry and Remote Sensing, Calgary, Canada, 29-31 August 2011.
  • Bas des Bouvrie,'' Improving RGBD Indoor Mapping with IMU data'', Delft University of Technology, Master's Thesis in Embedded Systems, 2012.
  • 'Pioneer 3 mobile robot operation manual', 2007.
  • Microsoft. Kinect for XBox 360 - Xbox. com. Dec-2013, Website: http://www. xbox. com/en-GB/kinect.
  • OpenKinect. org. Protocol Documentation - OpenKinect. Dec-2013, Website: http://openkinect. org/wiki/Protocol_Documentation.
  • Getting Started – OpenKinect, Dec-2013, Website: http://openkinect. org/wiki/Getting_Started#Please_read_this_before_you_start.
  • PrimseSense, Dec-2013, Website:http://www. primesense. com.
  • Openni, Dec-2013, Website: http://www. openni. org/.
  • Skanect, 3D Scanning, Dec-2013, Website: http://skanect. manctl. com/.
Index Terms
Computer Science
Information Sciences
No index terms available.
Keywords

Pioneer 3-dx (mobile robots) Kinect Sensor

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